#include <robot_interaction.h>

Public Types
typedef ::robot_interaction::EndEffectorInteraction	EndEffector
enum	EndEffectorInteractionStyle { EEF_POSITION_ARROWS = InteractionStyle::POSITION_ARROWS, EEF_ORIENTATION_CIRCLES = InteractionStyle::ORIENTATION_CIRCLES, EEF_POSITION_SPHERE = InteractionStyle::POSITION_SPHERE, EEF_ORIENTATION_SPHERE = InteractionStyle::ORIENTATION_SPHERE, EEF_POSITION_EEF = InteractionStyle::POSITION_EEF, EEF_ORIENTATION_EEF = InteractionStyle::ORIENTATION_EEF, EEF_FIXED = InteractionStyle::FIXED, EEF_POSITION = InteractionStyle::POSITION, EEF_ORIENTATION = InteractionStyle::ORIENTATION, EEF_6DOF = InteractionStyle::SIX_DOF, EEF_6DOF_SPHERE = InteractionStyle::SIX_DOF_SPHERE, EEF_POSITION_NOSPHERE = InteractionStyle::POSITION_NOSPHERE, EEF_ORIENTATION_NOSPHERE = InteractionStyle::ORIENTATION_NOSPHERE, EEF_6DOF_NOSPHERE = InteractionStyle::SIX_DOF_NOSPHERE }
typedef ::robot_interaction::GenericInteraction	Generic
typedef ::robot_interaction::InteractionHandler	InteractionHandler
typedef ::robot_interaction::InteractionHandlerPtr	InteractionHandlerPtr
typedef ::robot_interaction::JointInteraction	Joint
Public Member Functions
void	addActiveComponent (const InteractiveMarkerConstructorFn &construct, const ProcessFeedbackFn &process, const InteractiveMarkerUpdateFn &update=InteractiveMarkerUpdateFn(), const std::string &name="")
void	addInteractiveMarkers (const ::robot_interaction::InteractionHandlerPtr &handler, const double marker_scale=0.0)
void	clear ()
void	clearInteractiveMarkers ()
void	decideActiveComponents (const std::string &group)
void	decideActiveComponents (const std::string &group, InteractionStyle::InteractionStyle style)
void	decideActiveComponents (const std::string &group, EndEffectorInteractionStyle style)
void	decideActiveEndEffectors (const std::string &group, EndEffectorInteractionStyle style)
const std::vector < EndEffectorInteraction > &	getActiveEndEffectors () const
const std::vector < JointInteraction > &	getActiveJoints () const
KinematicOptionsMapPtr	getKinematicOptionsMap ()
const robot_model::RobotModelConstPtr &	getRobotModel () const
const std::string &	getServerTopic (void) const
void	publishInteractiveMarkers ()
	RobotInteraction (const robot_model::RobotModelConstPtr &kmodel, const std::string &ns="")
bool	showingMarkers (const ::robot_interaction::InteractionHandlerPtr &handler)
void	toggleMoveInteractiveMarkerTopic (bool enable)
void	updateInteractiveMarkers (const ::robot_interaction::InteractionHandlerPtr &handler)
virtual	~RobotInteraction ()
Static Public Member Functions
static bool	updateState (robot_state::RobotState &state, const EndEffectorInteraction &eef, const geometry_msgs::Pose &pose, unsigned int attempts, double ik_timeout, const robot_state::GroupStateValidityCallbackFn &validity_callback=robot_state::GroupStateValidityCallbackFn(), const kinematics::KinematicsQueryOptions &kinematics_query_options=kinematics::KinematicsQueryOptions())
Static Public Attributes
static const std::string	INTERACTIVE_MARKER_TOPIC = "robot_interaction_interactive_marker_topic"
	The topic name on which the internal Interactive Marker Server operates.
Private Member Functions
void	addEndEffectorMarkers (const ::robot_interaction::InteractionHandlerPtr &handler, const EndEffectorInteraction &eef, visualization_msgs::InteractiveMarker &im, bool position=true, bool orientation=true)
void	addEndEffectorMarkers (const ::robot_interaction::InteractionHandlerPtr &handler, const EndEffectorInteraction &eef, const geometry_msgs::Pose &offset, visualization_msgs::InteractiveMarker &im, bool position=true, bool orientation=true)
void	clearInteractiveMarkersUnsafe ()
double	computeGroupMarkerSize (const std::string &group)
double	computeLinkMarkerSize (const std::string &link)
void	computeMarkerPose (const ::robot_interaction::InteractionHandlerPtr &handler, const EndEffectorInteraction &eef, const robot_state::RobotState &robot_state, geometry_msgs::Pose &pose, geometry_msgs::Pose &control_to_eef_tf) const
void	decideActiveEndEffectors (const std::string &group)
void	decideActiveEndEffectors (const std::string &group, InteractionStyle::InteractionStyle style)
void	decideActiveJoints (const std::string &group)
void	moveInteractiveMarker (const std::string name, const geometry_msgs::PoseStampedConstPtr &msg)
void	processingThread ()
void	processInteractiveMarkerFeedback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	registerMoveInteractiveMarkerTopic (const std::string marker_name, const std::string &name)
void	subscribeMoveInteractiveMarker (const std::string marker_name, const std::string &name)
Private Attributes
std::vector < EndEffectorInteraction >	active_eef_
std::vector< GenericInteraction >	active_generic_
std::vector< JointInteraction >	active_vj_
std::map< std::string, visualization_msgs::InteractiveMarkerFeedbackConstPtr >	feedback_map_
std::map< std::string,::robot_interaction::InteractionHandlerPtr >	handlers_
std::vector< ros::Subscriber >	int_marker_move_subscribers_
std::vector< std::string >	int_marker_move_topics_
std::vector< std::string >	int_marker_names_
interactive_markers::InteractiveMarkerServer *	int_marker_server_
KinematicOptionsMapPtr	kinematic_options_map_
boost::mutex	marker_access_lock_
boost::condition_variable	new_feedback_condition_
boost::scoped_ptr< boost::thread >	processing_thread_
robot_model::RobotModelConstPtr	robot_model_
bool	run_processing_thread_
std::map< std::string, std::size_t >	shown_markers_
std::string	topic_

Detailed Description

Definition at line 73 of file robot_interaction.h.

Member Typedef Documentation

typedef ::robot_interaction::EndEffectorInteraction robot_interaction::RobotInteraction::EndEffector

Definition at line 79 of file robot_interaction.h.

typedef ::robot_interaction::GenericInteraction robot_interaction::RobotInteraction::Generic

Definition at line 81 of file robot_interaction.h.

typedef ::robot_interaction::InteractionHandler robot_interaction::RobotInteraction::InteractionHandler

Definition at line 77 of file robot_interaction.h.

typedef ::robot_interaction::InteractionHandlerPtr robot_interaction::RobotInteraction::InteractionHandlerPtr

Definition at line 78 of file robot_interaction.h.

typedef ::robot_interaction::JointInteraction robot_interaction::RobotInteraction::Joint

Definition at line 80 of file robot_interaction.h.

Member Enumeration Documentation

enum robot_interaction::RobotInteraction::EndEffectorInteractionStyle

DEPRECATED. Instead use robot_interaction::InteractionStyle::InteractionStyle in interaction.h

Enumerator:

EEF_POSITION_ARROWS
EEF_ORIENTATION_CIRCLES
EEF_POSITION_SPHERE
EEF_ORIENTATION_SPHERE
EEF_POSITION_EEF
EEF_ORIENTATION_EEF
EEF_FIXED
EEF_POSITION
EEF_ORIENTATION
EEF_6DOF
EEF_6DOF_SPHERE
EEF_POSITION_NOSPHERE
EEF_ORIENTATION_NOSPHERE
EEF_6DOF_NOSPHERE

Definition at line 247 of file robot_interaction.h.

Constructor & Destructor Documentation

robot_interaction::RobotInteraction::RobotInteraction	(	const robot_model::RobotModelConstPtr &	kmodel,
		const std::string &	ns = `""`
	)

Definition at line 64 of file robot_interaction.cpp.

robot_interaction::RobotInteraction::~RobotInteraction ( ) [virtual]

Definition at line 75 of file robot_interaction.cpp.

Member Function Documentation

void robot_interaction::RobotInteraction::addActiveComponent	(	const InteractiveMarkerConstructorFn &	construct,
		const ProcessFeedbackFn &	process,
		const InteractiveMarkerUpdateFn &	update = `InteractiveMarkerUpdateFn()`,
		const std::string &	name = `""`
	)

add an interaction. An interaction is a marker that can be used to manipulate the robot state. This function does not add any markers. To add markers for all active interactions call addInteractiveMarkers(). construct - a callback to construct the marker. See comment on InteractiveMarkerConstructorFn above. update - Called when the robot state changes. Updates the marker pose. Optional. See comment on InteractiveMarkerUpdateFn above. process - called when the marker moves. Updates the robot state. See comment on ProcessFeedbackFn above.

Definition at line 101 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::addEndEffectorMarkers	(	const ::robot_interaction::InteractionHandlerPtr &	handler,
		const EndEffectorInteraction &	eef,
		visualization_msgs::InteractiveMarker &	im,
		bool	position = `true`,
		bool	orientation = `true`
	)		`[private]`

Definition at line 375 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::addEndEffectorMarkers	(	const ::robot_interaction::InteractionHandlerPtr &	handler,
		const EndEffectorInteraction &	eef,
		const geometry_msgs::Pose &	offset,
		visualization_msgs::InteractiveMarker &	im,
		bool	position = `true`,
		bool	orientation = `true`
	)		`[private]`

Definition at line 384 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::addInteractiveMarkers	(	const ::robot_interaction::InteractionHandlerPtr &	handler,
		const double	marker_scale = `0.0`
	)

Add interactive markers for all active interactions. This adds markers just to the one handler. If there are multiple handlers call this for each handler for which you want markers. The markers are not actually added until you call publishInteractiveMarkers().

Definition at line 454 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::clear ( void )

remove all interactions. Also removes all markers.

Definition at line 349 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::clearInteractiveMarkers ( )

Definition at line 359 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::clearInteractiveMarkersUnsafe ( ) [private]

Definition at line 365 of file robot_interaction.cpp.

double robot_interaction::RobotInteraction::computeGroupMarkerSize ( const std::string & group ) [private]

Definition at line 146 of file robot_interaction.cpp.

double robot_interaction::RobotInteraction::computeLinkMarkerSize ( const std::string & link ) [private]

Definition at line 116 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::computeMarkerPose	(	const ::robot_interaction::InteractionHandlerPtr &	handler,
		const EndEffectorInteraction &	eef,
		const robot_state::RobotState &	robot_state,
		geometry_msgs::Pose &	pose,
		geometry_msgs::Pose &	control_to_eef_tf
	)		const `[private]`

Definition at line 598 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::decideActiveComponents ( const std::string & group )

Adds an interaction for:

each end effector in the group that can be controller by IK
each floating joint
each planar joint If no end effector exists in the robot then adds an interaction for the last link in the chain. This function does not add any markers. To add markers for all active interactions call addInteractiveMarkers().

Definition at line 85 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::decideActiveComponents	(	const std::string &	group,
		InteractionStyle::InteractionStyle	style
	)

Definition at line 90 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::decideActiveComponents	(	const std::string &	group,
		EndEffectorInteractionStyle	style
	)

Definition at line 867 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::decideActiveEndEffectors ( const std::string & group ) [private]

Definition at line 254 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::decideActiveEndEffectors	(	const std::string &	group,
		InteractionStyle::InteractionStyle	style
	)		`[private]`

Definition at line 259 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::decideActiveEndEffectors	(	const std::string &	group,
		EndEffectorInteractionStyle	style
	)

Definition at line 873 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::decideActiveJoints ( const std::string & group ) [private]

Definition at line 183 of file robot_interaction.cpp.

const std::vector<EndEffectorInteraction>& robot_interaction::RobotInteraction::getActiveEndEffectors ( ) const [inline]

Definition at line 269 of file robot_interaction.h.

const std::vector<JointInteraction>& robot_interaction::RobotInteraction::getActiveJoints ( ) const [inline]

Definition at line 274 of file robot_interaction.h.

KinematicOptionsMapPtr robot_interaction::RobotInteraction::getKinematicOptionsMap ( ) [inline]

Definition at line 159 of file robot_interaction.h.

const robot_model::RobotModelConstPtr& robot_interaction::RobotInteraction::getRobotModel ( ) const [inline]

Definition at line 152 of file robot_interaction.h.

const std::string& robot_interaction::RobotInteraction::getServerTopic ( void ) const [inline]

Definition at line 90 of file robot_interaction.h.

void robot_interaction::RobotInteraction::moveInteractiveMarker	(	const std::string	name,
		const geometry_msgs::PoseStampedConstPtr &	msg
	)		`[private]`

Definition at line 706 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::processingThread ( ) [private]

Definition at line 748 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::processInteractiveMarkerFeedback ( const visualization_msgs::InteractiveMarkerFeedbackConstPtr & feedback ) [private]

Definition at line 725 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::publishInteractiveMarkers ( )

Definition at line 668 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::registerMoveInteractiveMarkerTopic	(	const std::string	marker_name,
		const std::string &	name
	)		`[private]`

Definition at line 564 of file robot_interaction.cpp.

bool robot_interaction::RobotInteraction::showingMarkers ( const ::robot_interaction::InteractionHandlerPtr & handler )

Definition at line 674 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::subscribeMoveInteractiveMarker	(	const std::string	marker_name,
		const std::string &	name
	)		`[private]`

void robot_interaction::RobotInteraction::toggleMoveInteractiveMarkerTopic ( bool enable )

Definition at line 574 of file robot_interaction.cpp.

void robot_interaction::RobotInteraction::updateInteractiveMarkers ( const ::robot_interaction::InteractionHandlerPtr & handler )

Definition at line 627 of file robot_interaction.cpp.

bool robot_interaction::RobotInteraction::updateState	(	robot_state::RobotState &	state,
		const EndEffectorInteraction &	eef,
		const geometry_msgs::Pose &	pose,
		unsigned int	attempts,
		double	ik_timeout,
		const robot_state::GroupStateValidityCallbackFn &	validity_callback = `robot_state::GroupStateValidityCallbackFn()`,
		const kinematics::KinematicsQueryOptions &	kinematics_query_options = `kinematics::KinematicsQueryOptions()`
	)		`[static]`